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Merged beta into master

This commit is contained in:
Lorenz Meier 2015-08-11 11:03:01 +02:00
parent 7170c76fff fc4754f8e5
commit ea2975c2a9
15 changed files with 95 additions and 36 deletions
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6
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -97,6 +97,12 @@ then
fi
fi
# This is a FMUv2+ thing
if ver hwcmp PX4FMU_V1
then
set MIXER_AUX none
fi
if [ $MIXER_AUX != none ]
then
#

5
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -110,11 +110,6 @@ else
fi
fi
# Check for flow sensor
if px4flow start &
then
fi
#
# Start sensors
#

14
ROMFS/px4fmu_common/init.d/rcS
View File

@ -726,16 +726,22 @@ then
# End of autostart
fi
# There is no further script processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
if ver hwcmp PX4FMU_V2
then
# Check for flow sensor - as it is a background task, launch it last
px4flow start &
fi
if [ $EXIT_ON_END == yes ]
then
echo "Exit from nsh"
exit
fi
unset EXIT_ON_END
# There is no further processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR

2
mavlink/include/mavlink/v1.0

@ -1 +1 @@
Subproject commit 645a0e1b1eb09efeeaa14cc18d2474628a31ab53
Subproject commit d23a551e108d92c7a49a66d162cb9d542bbe6be1

2
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -261,7 +261,7 @@ CONFIG_STM32_USART=y
# U[S]ART Configuration
#
# Hot fix for lost data
CONFIG_STM32_RXDMA_BUFFER_SIZE_OVERRIDE=256
CONFIG_STM32_RXDMA_BUFFER_SIZE_OVERRIDE=64
# CONFIG_USART1_RS485 is not set
# CONFIG_USART1_RXDMA is not set
# CONFIG_USART2_RS485 is not set

2
src/drivers/px4flow/module.mk
View File

@ -41,4 +41,6 @@ SRCS = px4flow.cpp
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Wno-attributes

37
src/drivers/px4io/px4io.cpp
View File

@ -1116,25 +1116,42 @@ PX4IO::task_main()
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
float trim_val;
param_t trim_parm;
param_t parm_handle;
trim_parm = param_find("TRIM_ROLL");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_ROLL");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_PITCH");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_PITCH");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_YAW");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_YAW");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
}
/* S.BUS output */
int sbus_mode;
parm_handle = param_find("PWM_SBUS_MODE");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &sbus_mode);
if (sbus_mode == 1) {
/* enable S.BUS 1 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (sbus_mode == 2) {
/* enable S.BUS 2 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
}
}

11
src/drivers/px4io/px4io_params.c
View File

@ -129,3 +129,14 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
/**
* Enable S.BUS out
*
* Set to 1 to enable S.BUS version 1 output instead of RSSI.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);

2
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -203,7 +203,7 @@ int AttitudeEstimatorQ::start() {
_control_task = px4_task_spawn_cmd("attitude_estimator_q",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2500,
2000,
(px4_main_t)&AttitudeEstimatorQ::task_main_trampoline,
nullptr);

15
src/modules/commander/commander.cpp
View File

@ -281,7 +281,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("commander already running");
warnx("already running");
/* this is not an error */
return 0;
}
@ -294,11 +294,18 @@ int commander_main(int argc, char *argv[])
commander_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
while (!thread_running) {
usleep(200);
unsigned constexpr max_wait_us = 1000000;
unsigned constexpr max_wait_steps = 2000;
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
}
}
return 0;
return !(i < max_wait_steps);
}
if (!strcmp(argv[1], "stop")) {

6
src/modules/mavlink/mavlink_main.cpp
View File

@ -1960,6 +1960,12 @@ Mavlink::start(int argc, char *argv[])
// before returning to the shell
int ic = Mavlink::instance_count();
if (ic == MAVLINK_COMM_NUM_BUFFERS) {
warnx("Maximum MAVLink instance count of %d reached.",
(int)MAVLINK_COMM_NUM_BUFFERS);
return 1;
}
// Instantiate thread
char buf[24];
sprintf(buf, "mavlink_if%d", ic);

4
src/modules/mavlink/module.mk
View File

@ -54,6 +54,6 @@ MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed
EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed -DMAVLINK_COMM_NUM_BUFFERS=3
EXTRACFLAGS = -Wno-packed
EXTRACFLAGS = -Wno-packed -DMAVLINK_COMM_NUM_BUFFERS=3

20
src/modules/sdlog2/sdlog2.c
View File

@ -346,7 +346,20 @@ int sdlog2_main(int argc, char *argv[])
3000,
sdlog2_thread_main,
(char * const *)argv);
return 0;
/* wait for the task to launch */
unsigned const max_wait_us = 1000000;
unsigned const max_wait_steps = 2000;
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
}
}
return !(i < max_wait_steps);
}
if (!strcmp(argv[1], "stop")) {
@ -1236,8 +1249,6 @@ int sdlog2_thread_main(int argc, char *argv[])
/* close stdout */
close(1);
thread_running = true;
/* initialize thread synchronization */
pthread_mutex_init(&logbuffer_mutex, NULL);
pthread_cond_init(&logbuffer_cond, NULL);
@ -1271,6 +1282,9 @@ int sdlog2_thread_main(int argc, char *argv[])
sdlog2_start_log();
}
/* running, report */
thread_running = true;
while (!main_thread_should_exit) {
usleep(sleep_delay);

4
src/modules/systemlib/cpuload.c
View File

@ -80,8 +80,6 @@ void cpuload_initialize_once()
system_load.tasks[i].valid = false;
}
uint64_t now = hrt_absolute_time();
int static_tasks_count = 2; // there are at least 2 threads that should be initialized statically - "idle" and "init"
#ifdef CONFIG_PAGING
@ -96,7 +94,6 @@ void cpuload_initialize_once()
// perform static initialization of "system" threads
for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
system_load.tasks[system_load.total_count].start_time = now;
system_load.tasks[system_load.total_count].total_runtime = 0;
system_load.tasks[system_load.total_count].curr_start_time = 0;
system_load.tasks[system_load.total_count].tcb = sched_gettcb(
@ -113,7 +110,6 @@ void sched_note_start(FAR struct tcb_s *tcb)
for (i = 1; i < CONFIG_MAX_TASKS; i++) {
if (!system_load.tasks[i].valid) {
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = tcb;

1
src/modules/systemlib/cpuload.h
View File

@ -42,7 +42,6 @@ __BEGIN_DECLS
struct system_load_taskinfo_s {
uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
uint64_t curr_start_time; ///< Start time of the current scheduling slot
uint64_t start_time; ///< FIRST start time of task
#ifdef __PX4_NUTTX
FAR struct tcb_s *tcb; ///<
#endif